WO2015016236A1 - 車両 - Google Patents

車両 Download PDF

Info

Publication number
WO2015016236A1
WO2015016236A1 PCT/JP2014/069998 JP2014069998W WO2015016236A1 WO 2015016236 A1 WO2015016236 A1 WO 2015016236A1 JP 2014069998 W JP2014069998 W JP 2014069998W WO 2015016236 A1 WO2015016236 A1 WO 2015016236A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
power
wheel
prime mover
torque
Prior art date
Application number
PCT/JP2014/069998
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
本多智一
小林章良
吉見慎太郎
Original Assignee
本田技研工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to EP14832005.4A priority Critical patent/EP3028893B1/de
Priority to KR1020167005414A priority patent/KR20160040629A/ko
Priority to JP2015529584A priority patent/JP6457939B2/ja
Priority to CA2919965A priority patent/CA2919965A1/en
Priority to US14/440,419 priority patent/US9725014B2/en
Priority to CN201480043314.8A priority patent/CN105452052B/zh
Publication of WO2015016236A1 publication Critical patent/WO2015016236A1/ja

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/448—Electrical distribution type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
    • B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/06—Differential gearings with gears having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F16H48/22—Arrangements for suppressing or influencing the differential action, e.g. locking devices using friction clutches or brakes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K5/00—Arrangement or mounting of internal-combustion or jet-propulsion units
    • B60K2005/003—Arrangement or mounting of internal-combustion or jet-propulsion units the internal combustion or jet propulsion unit is arranged between the front and the rear axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
    • B60K2023/0816—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential
    • B60K2023/0833—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential for adding torque to the rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K5/00—Arrangement or mounting of internal-combustion or jet-propulsion units
    • B60K5/04—Arrangement or mounting of internal-combustion or jet-propulsion units with the engine main axis, e.g. crankshaft axis, transversely to the longitudinal centre line of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/443—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/14—Electronic locking-differential
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/30—ESP control system
    • B60T2270/303—Stability control with active acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • B60W2050/0056—Low-pass filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B60W2540/106—Rate of change
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/40—Torque distribution
    • B60W2720/406—Torque distribution between left and right wheel
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/904—Component specially adapted for hev
    • Y10S903/906—Motor or generator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/904—Component specially adapted for hev
    • Y10S903/909—Gearing

Definitions

  • the present invention relates to a vehicle capable of adjusting the driving force of left and right wheels (drive wheels).
  • US 2005/0217921 A1 the driving force distribution ratio of the front and rear wheels and the right and left driving force distribution ratios of the front wheels or the rear wheels can be accurately controlled.
  • the object is to provide a driving force control method for a wheel drive vehicle ([0009], summary).
  • US 2005/0217921 A1 controls the driving force distribution ratio of the front and rear wheels so that the rear wheel distribution ratio increases in accordance with the increase in the absolute value of the lateral G signal, and the front wheel or rear wheel.
  • the left and right driving force distribution ratios of the wheels are controlled so that the driving force on the turning outer wheel side is increased.
  • the lateral G signal uses a lateral G signal obtained by correcting the lateral G sensor signal with an estimated lateral G signal calculated based on the steering angle and the vehicle speed (summary).
  • JPJ2005-219580 A can suppress vehicle behavior change when a turning vehicle starts to accelerate or decelerate, and can improve vehicle stability.
  • the object is to provide a vehicle behavior control device ([0006], summary).
  • the behavior control apparatus 1 of JP 2005-219580 A includes driving means (electric motors 11FR to 11RL, [0024]) that individually add driving force to each of the plurality of wheels 10FR to 10RL, a vehicle Driving state detection means (lateral acceleration sensor 25, [0035]) for detecting the turning state of V, and when the vehicle V is accelerated when the vehicle V is in the turning state, application of driving force to the turning outer wheel is started.
  • Driving force control means (motor ECU 20, [0032]) for controlling the driving means so as to start application of driving force to the inner turning wheel later (Claim 3, [0052]).
  • Whether the vehicle V is turning is determined based on whether the lateral acceleration detected by the lateral acceleration sensor 25 is equal to or greater than a predetermined value ([0034], [0035]).
  • the absolute value of the change speed of the accelerator pedal opening (change speed
  • ) is equal to or greater than a predetermined value TH1
  • ) of the deviation between the previous read value and the current read value of the accelerator pedal opening is equal to or greater than the predetermined value TH2 (FIG. 3).
  • S106: YES) is provided ([0037]). It is said that only one of the change rate
  • JP 2005-219580 A focuses on the absolute value of the change rate of the accelerator pedal opening (change rate
  • is used only as one of the conditions for performing the control for starting the addition of the driving force to the inner turning wheel after the application of the driving force to the outer turning wheel is started.
  • of the accelerator pedal opening directly reflects the operation of the accelerator pedal, that is, the driver's intention of acceleration / deceleration (or the future acceleration / deceleration state of the vehicle).
  • JP 2005-219580 A does not disclose or suggest changing the wheel torque in accordance with the change speed
  • JP 5-2005-219580 A has room for improvement from the viewpoint of vehicle attitude control or operation performance (responsiveness to accelerator pedal operation, etc.) during acceleration turning.
  • the present invention has been made in consideration of the above-described problems, and an object of the present invention is to provide a vehicle capable of improving the attitude control or operation performance of the vehicle during accelerated turning.
  • a vehicle includes a left drive wheel and a right drive wheel connected to a prime mover, a required drive power amount input device that inputs a required drive power amount, and a required turn amount input device that inputs a required turn amount.
  • the vehicle further comprises a turning control device that adjusts a power difference between the left driving wheel and the right driving wheel based on a time differential value of the required driving power amount.
  • the power difference between the left and right drive wheels is adjusted based on the required turning amount and the time differential value of the required drive power amount. For this reason, even with the same required turning amount, the power difference between the left and right drive wheels varies depending on the time differential value of the required drive power amount. Therefore, for example, when the power difference between the left and right drive wheels is increased as the time differential value of the required drive power amount increases, the vehicle (vehicle body) can be easily turned stably. This is particularly noticeable in a low speed region where the response of the behavior of the vehicle to steering is low. Therefore, the above control makes it possible to make the vehicle posture more stable or to increase the responsiveness to the driver's intention (high-speed turning).
  • the turning control device may increase the power difference as the time differential value of the required drive power amount increases. Or the said turning control apparatus may make the said power difference small, so that the time differential value of the said request
  • the prime mover includes a first prime mover connected to the left drive wheel and a second prime mover connected to the right drive wheel, and the turning control device is based on a time differential value of the required drive power amount.
  • the power difference may be adjusted by controlling the power of the first prime mover and the second prime mover.
  • the power difference between the left and right drive wheels is adjusted by controlling the power of the first prime mover and the second prime mover.
  • the prime mover is connected to each of the left and right drive wheels, so that the outputs of the left and right drive wheels can be controlled independently.
  • the first prime mover and the second prime mover are electric motors capable of generating power in the forward direction and the reverse direction of the vehicle, respectively, and the turning control device includes the vehicle of the first prime mover and the second prime mover.
  • the power difference may be adjusted by generating power in the forward direction on the one corresponding to the outer ring in the turning direction and generating power in the reverse direction on the one corresponding to the inner ring.
  • the turning control device adjusts the power difference between the left and right drive wheels by the first prime mover and the second prime mover connected to the left and right drive wheels.
  • many electric motors can control power with high response and high definition. For this reason, with the above-described configuration, it is possible to generate a power difference between the left and right drive wheels with high response and high definition.
  • the left driving wheel and the right motor Adjust the power difference from the drive wheels. For this reason, it is possible to flexibly set the power difference without being restricted by the fact that the power of both the left and right drive wheels must be in the forward direction (positive value). Therefore, it is possible to further improve the attitude control or operation performance of the vehicle according to the scene.
  • the prime mover and the left drive wheel are connected via a first power transmission mechanism
  • the prime mover and the right drive wheel are connected via a second power transmission mechanism
  • the turning control device is configured to receive the request.
  • the power difference may be adjusted by controlling the first power transmission mechanism and the second power transmission mechanism based on a time differential value of the driving power amount.
  • the power difference between the left and right drive wheels can be adjusted without waiting for a change in the output of the prime mover based on the time differential value of the required drive power amount.
  • the first power transmission mechanism is switchable between a connected state in which power is transmitted between the prime mover and the left drive wheel and a disconnected state in which power is shut off between the prime mover and the left drive wheel.
  • the second power transmission mechanism includes a connection state in which power is transmitted between the prime mover and the right drive wheel, and a cutoff state in which power is shut off between the prime mover and the right drive wheel.
  • the turning control device includes a first intermittent means and a second intermittent means based on a time differential value of the required drive power amount. The power difference may be adjusted by switching.
  • the turning control device adjusts the power difference between the left and right drive wheels by connecting / disconnecting the first intermittent means and the second intermittent means. Thereby, it becomes possible to adjust the power difference between the left and right drive wheels by connecting and disconnecting the first intermittent means and the second intermittent means. For this reason, it becomes possible to generate the power difference between the left and right drive wheels with high responsiveness.
  • the power difference between the left and right drive wheels based on the time differential value of the required drive power amount becomes small at high vehicle speeds. For this reason, it becomes possible to prevent the behavior of the vehicle from becoming unstable due to an excessive power difference between the left and right drive wheels at a high vehicle speed.
  • the turning control device may reduce the power difference when the required turning amount is smaller than when the required turning amount is large when the time differential values of the requested driving power amount are equal.
  • the required turning amount is small, the power difference between the left and right driving wheels based on the time differential value of the required driving power amount becomes small. For this reason, for example, when the steering wheel is removed due to road swell or dredging, or when the driver performs fine steering, the power difference between the left and right drive wheels is excessively generated and the behavior of the vehicle becomes It becomes possible to prevent disturbance.
  • the turning control device is configured to add an addition power added to the power of the outer wheel in the turning direction of the vehicle of the left driving wheel and the right driving wheel and a subtraction power subtracted from the power of the inner wheel of the required driving power amount.
  • the absolute value of the addition power and the absolute value of the subtraction power may be equalized by calculating based on the time differential value.
  • the vehicle includes a power storage device that is electrically connected to the electric motor. May be.
  • the vehicle further includes a differential mechanism that distributes power from the prime mover to the left drive wheel and the right drive wheel, and the first power transmission mechanism is between the left drive wheel and the differential mechanism.
  • the second power transmission mechanism may be disposed between the right drive wheel and the differential mechanism.
  • the vehicle has a differential mechanism that distributes the power from the prime mover to the left drive wheel and the right drive wheel, and a part or all of the power distributed to the left drive wheel by the differential mechanism.
  • a first redistribution mechanism that transmits to the right drive wheel; and a second redistribution mechanism that transmits a part or all of the power distributed to the right drive wheel by the differential mechanism to the left drive wheel.
  • the turning control device may adjust the power difference by controlling the first redistribution mechanism and the second redistribution mechanism based on a time differential value of the required drive power amount.
  • FIG. 1 is a schematic configuration diagram of a vehicle drive system and its surroundings according to an embodiment of the present invention. It is a block diagram which shows various sensors and the functional block of a drive electronic control apparatus. It is a figure which shows an example of the torque for feedforward control about an outer wheel among right-and-left rear wheels. It is a flowchart of accelerator pedal differential feedforward control (AP differential FF control). It is a figure which shows an example of the various data at the time of using the said AP differential FF control of FIG. It is a figure which shows an example of the output when not using the case where the said AP differential FF control is used. It is a schematic block diagram of the drive system of a vehicle and its periphery which concern on the 1st modification of this invention. It is a schematic block diagram of the vehicle drive system and its periphery which concern on the 2nd modification of this invention. It is a schematic block diagram of the drive system of the vehicle which concerns on the 3rd modification of this invention, and its periphery.
  • FIG. 1 is a schematic configuration diagram of a drive system of a vehicle 10 and its surroundings according to an embodiment of the present invention.
  • the vehicle 10 includes an engine 12 and a first traveling motor 14 that are arranged in series on the front side of the vehicle 10, and a second traveling motor 16 and a third traveling motor 18 that are arranged on the rear side of the vehicle 10.
  • a high voltage battery 20 hereinafter also referred to as “battery 20”
  • first to third inverters 22, 24, and 26, and a drive electronic control device 28 hereinafter referred to as “drive ECU 28”).
  • the first traveling motor 14 is also referred to as a “first motor 14” or a “front motor 14”.
  • the second traveling motor 16 is also referred to as a “second motor 16”, a “rear first motor 16”, a “rear motor 16”, or a “left rear motor 16”.
  • the third traveling motor 18 is also referred to as “third motor 18”, “rear second motor 18”, “rear motor 18”, or “right rear motor 18”.
  • the engine 12 and the first motor 14 transmit a driving force (hereinafter referred to as “front wheel driving force Ff”) to the left front wheel 32a and the right front wheel 32b (hereinafter collectively referred to as “front wheel 32”) via the transmission 30.
  • the engine 12 and the first motor 14 constitute a front wheel drive device 34.
  • the vehicle 10 is driven only by the first motor 14 when the load is low, is driven only by the engine 12 when the vehicle 10 is medium load, and is driven by the engine 12 and the first motor 14 when the vehicle 10 is high load.
  • the output shaft of the second motor 16 is connected to the rotation shaft of the left rear wheel 36a, and transmits driving force to the left rear wheel 36a.
  • the output shaft of the third motor 18 is connected to the rotation shaft of the right rear wheel 36b, and transmits the driving force to the right rear wheel 36b.
  • the second motor 16 and the third motor 18 constitute a rear wheel drive device 38.
  • the front wheel drive device 34 and the rear wheel drive device 38 are mechanically disconnected and are provided separately.
  • the left rear wheel 36a and the right rear wheel 36b are collectively referred to as a rear wheel 36.
  • the driving force transmitted from the rear wheel driving device 38 to the rear wheel 36 is referred to as a rear wheel driving force Fr.
  • the high voltage battery 20 supplies power to the first to third motors 14, 16, 18 via the first to third inverters 22, 24, 26 and from the first to third motors 14, 16, 18.
  • the regenerative power Preg is charged.
  • the drive ECU 28 controls the engine 12 and the first to third inverters 22, 24, 26 based on outputs from various sensors and electronic control units (hereinafter referred to as “ECU”). Controls the output of the third motors 14, 16, and 18.
  • the drive ECU 28 includes an input / output unit, a calculation unit, and a storage unit (all not shown).
  • the drive ECU 28 may be a combination of a plurality of ECUs. For example, a plurality of ECUs provided corresponding to the engine 12 and the first to third motors 14, 16, 18 respectively, and an ECU for managing the drive states of the engine 12 and the first to third motors 14, 16, 18
  • the drive ECU 28 may be configured as described above.
  • the engine 12 is, for example, a 6-cylinder engine, but may be other engines such as a 2-cylinder, 4-cylinder, or 8-cylinder type.
  • the engine 12 is not limited to a gasoline engine, but may be an engine such as a diesel engine or an air engine.
  • the first to third motors 14, 16, and 18 are, for example, a three-phase AC brushless type, but may be other motors such as a three-phase AC brush type, a single-phase AC type, and a DC type.
  • the specifications of the first to third motors 14, 16, 18 may be the same or different.
  • Each of the first to third motors 14, 16, and 18 of the present embodiment is capable of forward rotation (rotation for moving the vehicle 10 forward) and reverse rotation (rotation for moving the vehicle 10 backward).
  • the first to third inverters 22, 24, 26 have a three-phase bridge configuration, perform DC / AC conversion, convert DC to three-phase AC, and convert the first to third motors 14, 16,
  • the direct current after the alternating current / direct current conversion accompanying the regenerative operation of the first to third motors 14, 16, 18 is supplied to the high voltage battery 20.
  • the high voltage battery 20 is a power storage device (energy storage) including a plurality of battery cells, and for example, a lithium ion secondary battery, a nickel hydride secondary battery, or a capacitor can be used. In this embodiment, a lithium ion secondary battery is used.
  • a DC / DC converter (not shown) is provided between the first to third inverters 22, 24, 26 and the high voltage battery 20, and the output voltage of the high voltage battery 20 or the output of the first to third motors 14, 16, 18 is provided. The voltage may be boosted or lowered.
  • FIG. 2 is a block diagram showing various sensors and functional blocks of the drive ECU 28.
  • FIG. 3 is a diagram illustrating an example of feedforward control torque for the outer wheel of the left and right rear wheels 36a and 36b.
  • the function of each block shown in FIG. However, as necessary, a part of the drive ECU 28 may be replaced with an analog circuit or a digital circuit.
  • the vehicle 10 includes a vehicle speed sensor 50, a steering angle sensor 52, a lateral acceleration sensor 54 (hereinafter referred to as “lateral G sensor 54”), a wheel speed sensor 56, and an accelerator pedal opening sensor. 58 (hereinafter referred to as “AP opening sensor 58”) and a yaw rate sensor 60.
  • the drive ECU 28 includes a steering angle proportional feedforward control unit 70 (hereinafter referred to as “steering angle proportional FF control unit 70” or “FF control unit 70”) and an accelerator pedal differential feedforward control unit 72 (hereinafter referred to as “AP differential”).
  • first adder 74 second adder 76
  • low pass filter 78 low pass filter 78
  • feedback control unit 80 hereinafter referred to as” FB control unit 80 ").
  • a first subtractor 82, and a second subtractor 84 are examples of the amount of the vehicle.
  • the vehicle speed sensor 50 detects the vehicle speed V [km / h] of the vehicle 10 and outputs it to the FF controllers 70 and 72 and the FB controller 80.
  • the steering angle sensor 52 detects the steering angle ⁇ st [degree] of the handle 62 and outputs it to the FF control units 70 and 72 and the FB control unit 80.
  • the lateral G sensor 54 detects the lateral acceleration Glat [m / s 2 ] applied to the vehicle 10 (vehicle body) and outputs it to the FF control unit 70 and the FB control unit 80.
  • the wheel speed sensor 56 detects the rotational speed of each of the wheels 32a, 32b, 36a, 36b (hereinafter referred to as “wheel speed Vwfl, Vwfr, Vwrl, Vwrr”, and collectively referred to as “wheel speed Vw”) and performs FF control.
  • the AP opening degree sensor 58 detects the opening degree ⁇ ap of the accelerator pedal 64 (hereinafter referred to as “accelerator pedal opening degree ⁇ ap” or “AP opening degree ⁇ ap”) and outputs it to the FF control unit 72.
  • the accelerator pedal 64 is not limited to a vehicle 10 drive request (drive force control), but is a vehicle 10 drive request and brake request (drive force and brake force control). May be.
  • the yaw rate sensor 60 detects the yaw rate Yr applied to the vehicle 10 (vehicle body) and outputs it to the FB control unit 80.
  • Steering angle proportional FF control unit 70 executes steering angle proportional feedforward control (hereinafter referred to as “steering angle proportional FF control”).
  • steering angle proportional FF control the torque (driving force) of the driving wheels (here, the rear wheels 36a and 36b) is controlled in accordance with the steering angle ⁇ st and the accompanying lateral acceleration Glat.
  • the FF control unit 70 calculates the steering angle proportional torque Tff1l for the left rear wheel 36a and outputs it to the first adder 74, and calculates the steering angle proportional torque Tff1r for the right rear wheel 36b. Output to the second adder 76.
  • the steering angle proportional torques Tff1l and Tff1r are collectively referred to as “steering angle proportional torque Tff1” or “torque Tff1”.
  • FIG. 3 shows an example of torque Tff1 for the outer wheel among the left and right rear wheels 36a, 36b.
  • the torque Tff1 is calculated by the same configuration and processing as the feedforward control unit of US 2005/0217921 A1 (84 in Fig. 5 of US 2005/0217921 A1).
  • the FF control unit 70 performs the following based on the torque of the engine 12 (engine torque Teng) and the torques of the first to third motors 14, 16, 18 (first to third motor torques Tmot1, Tmot2, Tmot3). A wheel driving force F for the wheels 36a and 36b is calculated.
  • the FF control unit 70 calculates an estimated value of the lateral acceleration Glat (estimated lateral acceleration Glat_e) based on the vehicle speed V from the vehicle speed sensor 50 and the steering angle ⁇ st from the steering angle sensor 52.
  • the FF control unit 70 calculates a correction value (corrected lateral acceleration Glat_c) of the lateral acceleration Glat obtained by adding the lateral acceleration Glat (actually measured value) from the lateral G sensor 54 and the estimated lateral acceleration Glat_e.
  • the FF control unit 70 determines which of the left and right rear wheels 36a and 36b is the outer wheel based on the corrected lateral acceleration Glat_c. Further, the FF control unit 70 calculates the front / rear distribution ratio and the left / right distribution ratio based on the corrected lateral acceleration Glat_c. The FF control unit 70 calculates the outer wheel / inner wheel torque distribution ratio for the rear wheels 36a and 36b based on the determined outer wheel and the calculated front / rear distribution ratio and right / left distribution ratio.
  • the FF control unit 70 calculates the steering angle proportional torques Tff1l and Tff1r by multiplying the wheel driving force F for the rear wheels 36a and 36b by a ratio based on the outer wheel / inner wheel torque distribution ratio.
  • the AP differential FF control unit 72 executes accelerator pedal differential feedback control (hereinafter referred to as “AP differential FF control”).
  • AP differential FF control accelerator pedal differential feedback control
  • the torque (driving force) of the driving wheels here, the rear wheels 36a and 36b
  • Vap [degree / sec] the change speed Vap [degree / sec] which is the time differential value of the accelerator pedal opening ⁇ ap. .
  • the FF control unit 72 calculates an accelerator pedal differential torque Tff2l (hereinafter referred to as “AP differential torque Tff2l”) for the left rear wheel 36a and outputs it to the first adder 74, and the right rear wheel 36b.
  • Accelerator pedal differential torque Tff2r (hereinafter referred to as “AP differential torque Tff2r”) is calculated and output to the second adder 76.
  • AP differential torques Tff2l and Tff2r are collectively referred to as “AP differential torque Tff2” or “torque Tff2”.
  • FIG. 3 shows an example of the torque Tff2 for the outer wheel among the left and right rear wheels 36a, 36b.
  • the FF control unit 72 calculates the torque Tff2 mainly based on the change speed Vap of the AP opening ⁇ ap.
  • the torque Tff2 is a torque for setting the torque difference ⁇ T [N ⁇ m] between the left and right rear wheels 36a and 36b according to the change speed Vap.
  • the torque difference ⁇ T is a difference in torque (here, target value) between the left and right rear wheels 36a, 36b. Details of the AP differential FF control will be described later with reference to the flowchart of FIG.
  • the first adder 74 calculates the sum of the torque Tff1l from the FF control unit 70 and the torque Tff2l from the FF control unit 72 (hereinafter referred to as “feedforward total torque Tff_total_l” or “FF total torque Tff_total_l”).
  • the second adder 76 calculates the sum of the torque Tff1r from the FF control unit 70 and the torque Tff2r from the FF control unit 72 (hereinafter referred to as “feedforward total torque Tff_total_r” or “FF total torque Tff_total_r”).
  • FIG. 3 shows an example of torque Tff_total for the outer wheel among the left and right rear wheels 36a, 36b.
  • the low-pass filter 78 passes only the low frequency component of the FF total torque Tff_total_l for the left rear wheel 36a and outputs it to the first subtractor 82.
  • the low pass filter 78 passes only the low frequency component of the FF total torque Tff_total_r for the right rear wheel 36b and outputs the low frequency component to the second subtractor 84. This makes it possible to avoid a sudden change in the FF total torque Tff_total. As a result, it is possible to avoid a driver's uncomfortable feeling with respect to a rapid increase in the AP differential torque Tff2.
  • the FB control unit 80 performs feedback control (hereinafter referred to as “FB control”).
  • FB control feedback control
  • the torque (driving force) of the driving wheels is controlled so as to avoid slipping of the driving wheels (here, the rear wheels 36a and 36b) when the vehicle 10 is turning.
  • the FB control unit 80 calculates a feedback torque Tfbl for the left rear wheel 36a (hereinafter referred to as “FB torque Tfbl”) and outputs it to the first subtractor 82 to provide feedback for the right rear wheel 36b.
  • Torque Tfbr (hereinafter referred to as “FB torque Tfbr”) is calculated and output to the second subtractor 84.
  • FB torque Tfbr the FB torques Tfbl and Tfbr are collectively referred to as “FB torque Tfb” or “torque Tfb”.
  • the torque Tfb is calculated by the same configuration and processing as the feedback control unit of US172005 / 0217921 A1 (86 of US 2005/0217921 A1 in FIG. 5).
  • the FB control unit 80 is based on the vehicle speed V detected by the vehicle speed sensor 50, the steering angle ⁇ st detected by the steering angle sensor 52, the lateral acceleration Glat detected by the lateral G sensor 54, and the yaw rate Yr detected by the yaw rate sensor 60. Then, the slip angle of the vehicle 10 is calculated. Further, the FB control unit 80 calculates a slip angle threshold based on the vehicle speed V detected by the vehicle speed sensor 50 and the lateral acceleration Glat detected by the lateral G sensor 54.
  • the FB control unit 80 calculates FB torques Tfbl and Tfbr so as to calculate the reduction amount of the rear wheel torque and the reduction amount of the outer wheel torque based on the difference between the slip angle and the slip angle threshold value. That is, when the slip angle of the vehicle 10 is larger than a predetermined value, it is determined that the vehicle 10 is in an unstable state, and the rear wheel distribution torque is reduced to eliminate the unstable state, and the outer wheel distribution torque is reduced. FB torques Tfbl and Tfbr are calculated.
  • the first subtractor 82 calculates a difference between the FF total torque Tff_total_l from the low-pass filter 78 and the FB torque Tfbl from the FB control unit 80 (hereinafter referred to as “total torque Ttotal_l” or “torque Ttotal_l”).
  • the second subtractor 84 calculates a difference between the FF total torque Tff_total_r from the low-pass filter 78 and the FB torque Tfbr from the FB control unit 80 (hereinafter referred to as “total torque Ttotal_r” or “torque Ttotal_r”).
  • the total torques Ttotal_l and Ttotal_r are collectively referred to as “total torque Ttotal” or “torque Ttotal”.
  • FIG. 3 shows an example of the steering angle proportional torque Tff1, the AP differential torque Tff2, and the FF total torque Tff_total for the outer wheels of the left and right rear wheels 36a, 36b.
  • the steering angle proportional torque Tff1 and the AP differential torque Tff2 increase.
  • the steering angle proportional torque Tff1 rises relatively slowly. Therefore, by adding the AP differential torque Tff2 that rises faster than the steering angle proportional torque Tff1, it is possible to speed up the rise of the FF total torque Tff_total as a whole.
  • FIG. 4 is a flowchart of AP differential FF control.
  • FIG. 5 is a diagram illustrating an example of various data when the AP differential FF control of FIG. 4 is used.
  • the broken line indicates data when the vehicle speed V is the predetermined and the steering angle ⁇ st
  • the solid line indicates data when the vehicle speed V is the same as the broken line and the steering angle ⁇ st is larger than the broken line.
  • FIG. 5 shows data when the accelerator pedal 64 is strongly depressed at the time point t1 in a state where the vehicle is traveling at a constant speed.
  • step S1 of FIG. 4 the AP differential FF control unit 72 sets the AP opening ⁇ ap from the AP opening sensor 58, the steering angle ⁇ st from the steering angle sensor 52, the wheel speed Vw from the wheel speed sensor 56, and the lateral G sensor. Lateral acceleration Glat is acquired from 54.
  • step S2 the FF control unit 72 calculates a change speed Vap that is a time differential value of the AP opening ⁇ ap.
  • step S3 the FF control unit 72 determines whether the AP opening degree ⁇ ap is increasing or has a maximum value. Whether or not the AP opening ⁇ ap is increasing is determined by checking whether or not the change speed Vap is a positive value.
  • the maximum value of the AP opening ⁇ ap means a value in a state where the accelerator pedal 64 cannot be depressed any further.
  • step S4 the FF control unit 72 selects a map based on the combination of the steering angle ⁇ st and the wheel speed Vw.
  • the map is a map that defines the relationship between the change speed Vap and the AP differential torque Tff2.
  • a plurality of maps for each combination of the steering angle ⁇ st and the wheel speed Vw are stored in a storage unit (not shown) of the drive ECU 28.
  • the wheel speed Vw here is for a wheel (here, the rear wheels 36a and 36b) whose left and right driving force distribution ratios can be changed.
  • an average value of the wheel speeds Vwrl and Vwrr is used. Can do.
  • the larger or smaller value of the wheel speeds Vwrl and Vwrr may be used. Also, as will be described later, it is possible to use a method other than the use of a map.
  • the AP differential torque Tff2 when the wheel speed Vw is high is smaller than when the wheel speed Vw of the left and right rear wheels 36a and 36b is low.
  • the relationship between the speed Vap and the AP differential torque Tff2 is defined.
  • the change speed Vap and the AP differential are such that the AP differential torque Tff2 when the steering angle ⁇ st is small is smaller than when the steering angle ⁇ st is large.
  • a relationship with the torque Tff2 is defined.
  • step S5 the FF control unit 72 selects the AP differential torque Tff2 corresponding to the change speed Vap calculated in step S2 in the map selected in step S4.
  • step S6 the FF control unit 72 performs a rate limit process for reducing the AP differential torque Tff2.
  • the FF control unit 72 proceeds to step S6 even if the AP opening ⁇ ap is the maximum value.
  • the FF control unit 72 obtains a value obtained by subtracting a specific positive value ⁇ from the previous value of the AP differential torque Tff2 (hereinafter referred to as “AP differential torque Tff2 (previous)”) as the AP differential torque Tff2.
  • AP differential torque Tff2 (current) This value (hereinafter referred to as “AP differential torque Tff2 (current)”) (Tff2 (current) ⁇ Tff2 (previous) ⁇ ). Since the minimum value of the torque Tff2 is zero, the torque Tff2 does not become a negative value.
  • the value ⁇ of the present embodiment decreases from when the AP opening ⁇ ap is the maximum value, the time until the AP opening ⁇ ap becomes zero at any steering angle ⁇ st and wheel speed Vw. Set to be equal.
  • the time until the AP opening ⁇ ap becomes zero is made equal for any steering angle ⁇ st and wheel speed Vw. Set to. For this reason, the value ⁇ is increased when the steering angle ⁇ st is large.
  • step S7 the FF control unit 72 specifies the turning direction of the vehicle 10 based on the lateral acceleration Glat acquired in step S1.
  • the FF control unit 72 applies the AP differential torque Tff2 to the outer wheel of the left and right rear wheels 36a, 36b, and applies a value ⁇ Tff2 obtained by multiplying the AP differential torque Tff2 by a minus value to the inner wheel. . That is, the FF control unit 72 outputs the AP differential torque Tff2 to the first adder 74 or the second adder 76 for the outer ring, and to the first adder 74 or the second adder 76 for the inner ring. A value ⁇ Tff2 obtained by multiplying the AP differential torque Tff2 by minus is output.
  • the second motor 16 and the third motor 18 can rotate forward and backward.
  • the value ⁇ Tff2 used for the inner wheel among the left and right rear wheels 36a and 36b allows the torque of the inner ring to be a negative value.
  • the control unit 72 causes the inner wheel torque of the left and right rear wheels 36a, 36b to have a negative value.
  • the inner ring assists the turning of the vehicle 10 by outputting a torque in the negative direction during turning.
  • regeneration is performed in the motor corresponding to the inner ring (one of the motors 16 and 18).
  • FIG. 6 is a diagram illustrating an example of output when the AP differential FF control is used and when it is not used.
  • FIG. 6 shows the torque difference ⁇ T of this embodiment (that is, when both the steering angle proportional FF control and the AP differential FF control are performed) and the torque difference ⁇ T of the comparative example.
  • the steering angle proportional FF control is performed, but the AP differential FF control is not performed.
  • the left and right rear sides are based on the steering angle ⁇ st (required turning amount) and the change speed Vap (time differential value of the required drive power amount) of the AP opening ⁇ ap.
  • the torque difference ⁇ T power difference
  • the torque difference ⁇ T between the left and right rear wheels 36a, 36b varies with the change speed Vap even at the same steering angle ⁇ st. Accordingly, when the torque difference ⁇ T between the left and right rear wheels 36a and 36b is increased as the change speed Vap is higher, the vehicle 10 (vehicle body) is more easily turned stably. This is particularly noticeable in a low speed region where the response of the behavior of the vehicle 10 to steering is low. Therefore, the above control makes it possible to make the posture of the vehicle 10 more stable or improve the responsiveness to the driver's intention (high-speed turning).
  • the rear first motor 16 (first prime mover) connected to the left rear wheel 36a (left drive wheel) and the rear second motor 18 connected to the right rear wheel 36b (right drive wheel). (Second prime mover) (FIG. 1). Further, the drive ECU 28 (turning control device) adjusts the torque difference ⁇ T between the left and right rear wheels 36a and 36b by controlling the torque of the motors 16 and 18 based on the change speed Vap of the AP opening ⁇ ap (FIG. 4). S5, S7, S8).
  • the torque difference ⁇ T between the left and right rear wheels 36a and 36b is adjusted by controlling the torque of the motors 16 and 18.
  • motors primary movers
  • the left and right rear wheels 36a and 36b are connected to the left and right rear wheels 36a and 36b, respectively, so that the outputs of the left and right rear wheels 36a and 36b can be controlled independently.
  • the rear first motor 16 (first prime mover) and the rear second motor 18 (second prime mover) are electric motors capable of generating forward and backward torques of the vehicle 10, respectively.
  • the drive ECU 28 (turning control device) generates torque (positive value) in the forward direction in the motors 16 and 18 that correspond to the outer wheels in the turning direction of the vehicle 10 and responds to the inner wheels as necessary.
  • the torque difference ⁇ T is adjusted by generating a reverse torque (negative value) in the device (S5, S7, S8 in FIG. 4).
  • the drive ECU 28 adjusts the torque difference ⁇ T between the left and right rear wheels 36a, 36b by the motors 16, 18 connected to the left and right rear wheels 36a, 36b.
  • many motors electric motors
  • the drive ECU 28 determines that the left rear wheel 36a (left drive wheel) and the right rear wheel 36b when the change speed Vap (time differential value of the required drive power amount) of the AP opening ⁇ ap is equal.
  • the torque difference ⁇ T is reduced when the rotation speed (wheel speed Vw) of the (right drive wheel) is higher than when it is low (S4, S5 in FIG. 4).
  • the drive ECU 28 (turning control device) is smaller than when the steering angle ⁇ st (required turning amount) is large when the change speed Vap (time differential value of the requested driving power amount) of the AP opening ⁇ ap is equal.
  • the torque difference ⁇ T is reduced (S4 and S5 in FIG. 4; see also the AP differential torque Tff2 in FIG. 5).
  • the torque difference ⁇ T between the left and right rear wheels 36a, 36b based on the change speed Vap of the AP opening ⁇ ap is small.
  • the torque difference ⁇ T between the left and right rear wheels 36a, 36b is excessively generated.
  • the drive ECU 28 adds the AP differential torque Tff2 (added to the outer wheel in the turning direction of the vehicle 10 among the left rear wheel 36a (left drive wheel) and the right rear wheel 36b (right drive wheel).
  • (Addition torque) and a value ⁇ Tff2 (subtraction torque) obtained by multiplying the AP differential torque Tff2 subtracted from the inner ring by a minus value are calculated based on the change speed Vap of the AP opening ⁇ ap (S5, S7, S8 in FIG. 4). ),
  • the absolute value of the addition torque Tff2 is equal to the absolute value of the subtraction torque ⁇ Tff2.
  • the torque difference ⁇ T between the left and right rear wheels 36a, 36b is adjusted without changing the total value of torque generated by the rear first motor 16 and the rear second motor 18 (rear wheel driving force Fr). Is possible. For this reason, it is possible to avoid giving the driver a sense of incongruity by changing the torque or the rear wheel driving force Fr with the adjustment of the torque difference ⁇ T.
  • A. Vehicle 10 (application target)
  • the vehicle 10 that is an automobile is described (FIG. 1).
  • the torque difference ⁇ T power difference
  • the left rear wheel 36a left driving wheel
  • the right rear wheel 36b right driving wheel
  • Vap of the AP opening ⁇ ap change speed Vap of the AP opening ⁇ ap.
  • any of an automatic tricycle and an automatic hexacycle may be used.
  • the vehicle 10 has one engine 12 and three travel motors 14, 16, and 18 as drive sources (prime movers) (FIG. 1), but the drive sources are not limited to this combination.
  • the vehicle 10 may have one or more traveling motors for the front wheels 32 and one or more traveling motors for the rear wheels 36 as drive sources.
  • only one traveling motor can be used for the front wheel 32 or the rear wheel 36.
  • the driving force may be distributed to the left and right wheels using a differential device.
  • the structure which allocates an individual driving motor (a so-called in-wheel motor is included) to each of all the wheels is also possible.
  • the front wheels 32 are driven by the front wheel drive device 34 having the engine 12 and the first motor 14, and the rear wheels 36 are driven by the rear wheel drive device 38 having the second and third motors 16 and 18.
  • the torque difference ⁇ T power difference
  • the target for adjusting the torque difference ⁇ T is the left and right rear wheels 36a and 36b.
  • the torque difference ⁇ T between the left and right front wheels 32a and 32b may be adjusted. Is also possible.
  • FIG. 7 is a schematic configuration diagram of a drive system and its surroundings of a vehicle 10A according to a first modification of the present invention.
  • the configurations of the front wheel drive device 34 and the rear wheel drive device 38 of the vehicle 10 according to the embodiment are reversed. That is, the front wheel drive device 34a of the vehicle 10A includes second and third travel motors 16a and 18a disposed on the front side of the vehicle 10A. Further, the rear wheel drive device 38a of the vehicle 10A includes an engine 12a and a first travel motor 14a arranged in series on the rear side of the vehicle 10A.
  • FIG. 8 is a schematic configuration diagram of a drive system of a vehicle 10B and its surroundings according to a second modification of the present invention.
  • driving force Feng the driving force from the engine 12
  • the front wheels 32a and 32b the rear wheels 36a and 36b.
  • the rear wheels 36a and 36b sub driving wheels
  • the motor 14 may be connected to the engine 12 as in the above-described embodiment (FIG. 1).
  • the vehicle 10B includes a transfer clutch 90, a propeller shaft 92, a differential gear 94, differential gear output shafts 96a and 96b (hereinafter also referred to as “output shafts 96a and 96b”), a first clutch 98, and a left output shaft. 100, a second clutch 102, and a right output shaft 104.
  • the transfer clutch 90 adjusts the driving force Feng from the engine 12 distributed to the rear wheels 36a and 36b via the propeller shaft 92.
  • the differential gear 94 equally distributes the driving force Feng transmitted to the rear wheels 36a and 36b via the propeller shaft 92 to the left and right output shafts 96a and 96b.
  • the first clutch 98 adjusts the degree of engagement based on a command from the drive ECU 28 and transmits the driving force from the output shaft 96a to the left output shaft 100 connected and fixed to the left rear wheel 36a.
  • the second clutch 102 adjusts the degree of engagement based on a command from the drive ECU 28 and transmits the driving force from the output shaft 96b to the right output shaft 104 connected and fixed to the right rear wheel 36b.
  • the driving force (torque) of the rear wheels 36a and 36b can be individually adjusted in the vehicle 10B.
  • the vehicle 10B for example, the one described in US 2005/0217921 A1 can be used.
  • the engine 12 (prime mover) and the left rear wheel 36a (left drive wheel) are connected via a first clutch 98 (first power transmission mechanism), and the engine 12 and the right rear wheel are connected.
  • 36b (right drive wheel) is connected via a second clutch 102 (second power transmission mechanism).
  • the first clutch 98 and the second clutch 102 can not only be simply switched between a connected state and a disconnected state, but also can switch the connected state or the disconnected state in a plurality of stages by adjusting the degree of slip.
  • the drive ECU 28 controls the first clutch 98 and the second clutch 102 based on the change speed Vap of the AP opening ⁇ ap, and sets the torque difference ⁇ T between the left rear wheel 36a and the right rear wheel 36b. adjust.
  • the torque difference ⁇ T between the left and right rear wheels 36a, 36b can be adjusted without waiting for the output change of the engine 12 based on the AP opening ⁇ ap.
  • the first clutch 98 can be switched between a connected state in which power is transmitted between the engine 12 and the left rear wheel 36a and a disconnected state in which power is cut off between the engine 12 and the left rear wheel 36a.
  • the second clutch 102 can switch between a connected state in which power is transmitted between the engine 12 and the right rear wheel 36b and a disconnected state in which power is cut off between the engine 12 and the right rear wheel 36b. is there.
  • the drive ECU 28 switches between the connected state and the disconnected state of the first clutch 98 and the second clutch 102 based on the change speed Vap of the AP opening ⁇ ap, and thereby the torque of the left rear wheel 36a and the right rear wheel 36b. Adjust the difference ⁇ T.
  • the drive ECU 28 adjusts the torque difference ⁇ T between the left and right rear wheels 36a, 36b by connecting / disconnecting the first clutch 98 and the second clutch 102.
  • the torque difference ⁇ T between the left and right rear wheels 36a and 36b can be adjusted by connecting and disconnecting the first clutch 98 and the second clutch 102. For this reason, it is possible to generate the torque difference ⁇ T with high responsiveness.
  • FIG. 9 is a schematic configuration diagram of a drive system of a vehicle 10C and its surroundings according to a third modified example of the present invention. Similar to the vehicle 10B according to the second modification, in the vehicle 10C, the driving force (driving force Feng) from the engine 12 is transmitted to the front wheels 32a and 32b and the rear wheels 36a and 36b. Thereby, in addition to the front wheels 32a and 32b (main driving wheels), the rear wheels 36a and 36b (sub driving wheels) are used as driving wheels.
  • the same components as those of the vehicle 10B are denoted by the same reference numerals and description thereof is omitted.
  • the motor 14 may be connected to the engine 12 as in the above-described embodiment (FIG. 1).
  • the vehicle 10C includes a transfer clutch 90, a propeller shaft 92, a differential gear 94, differential gear output shafts 96a and 96b (output shafts 96a and 96b), a left output shaft 100, a right output shaft 104, a first redistribution mechanism 110, A second redistribution mechanism 112 is included.
  • the first redistribution mechanism 110 transmits a part or all of the driving force distributed or branched from the differential gear 94 for the left rear wheel 36a to the right rear wheel 36b when the vehicle 10C makes a left turn.
  • the first redistribution mechanism 110 includes a left turning clutch, a sun gear for the left rear wheel 36a, a triple pinion gear, and a sun gear for the right rear wheel 36b (all not shown).
  • the second redistribution mechanism 112 transmits a part or all of the driving force distributed or branched from the differential gear 94 for the right rear wheel 36b to the left rear wheel 36a when the vehicle 10C makes a right turn.
  • the second redistribution mechanism 112 includes a right turning clutch, a right rear wheel 36b sun gear, a triple pinion gear, and a left rear wheel 36a sun gear (all not shown).
  • the left turning clutch of the first redistribution mechanism 110 and the right turning clutch of the second redistribution mechanism 112 are not only simply switched between the connected state and the disconnected state, but also adjusted in the degree of slipping to be in the connected state or the disconnected state. It is possible to switch to multiple stages.
  • the driving force of the rear wheels 36a and 36b can be individually adjusted in the vehicle 10C.
  • the vehicle 10C for example, the one described in JP2011-131618A can be used.
  • the torque difference ⁇ T between the left and right rear wheels 36a, 36b is adjusted without waiting for the output change of the engine 12 based on the AP opening ⁇ ap. It becomes possible.
  • the torque difference ⁇ T can be adjusted with high responsiveness.
  • first to third traveling motors 14, 16, 18 are three-phase AC brushless type, but the present invention is not limited to this.
  • the first to third traveling motors 14, 16, and 18 may be a three-phase AC brush type, a single-phase AC type, or a DC type.
  • the first to third traveling motors 14, 16, and 18 are supplied with electric power from the high-voltage battery 20, but in addition to this, electric power may be supplied from the fuel cell.
  • the torques of the front wheel drive device 34 and the rear wheel drive device 38 are controlled based on the operation of the accelerator pedal 64 by the driver.
  • the present invention is not limited to this.
  • the present invention can be applied to a configuration in which the torque of the front wheel drive device 34 and the rear wheel drive device 38 in the vehicle 10 is automatically controlled (a configuration in which so-called automatic driving is performed).
  • the automatic driving here is not limited to the torque of the front wheel drive device 34 and the rear wheel drive device 38, and may be automatically performed for steering.
  • the drive ECU 28 performs control with the torques of the front wheel drive device 34 and the rear wheel drive device 38 as calculation targets.
  • the present invention is not limited to this.
  • the drive ECU 28 can perform control with an output or driving force that can be converted into torque as a calculation target.
  • a map based on the steering angle ⁇ st and the wheel speed Vw is used for calculation (selection) of the AP differential torque Tff2 (S4 and S5 in FIG. 4).
  • the present invention is not limited to this.
  • a single map that defines the relationship between the change speed Vap of the AP opening ⁇ ap and the torque Tff2 may be provided, and the torque Tff2 may be selected or calculated using the single map.
  • the torque Tff2 is applied to the outer wheel of the left and right rear wheels 36a, 36b, and the torque Tff2 is subtracted from the inner wheel (in other words, -Tff2 is added).
  • the torque difference ⁇ T power difference
  • the left rear wheel 36a left driving wheel
  • the right rear wheel 36b right driving wheel
  • Vap of the AP opening ⁇ ap change speed Vap of the AP opening ⁇ ap.
  • a configuration in which only the torque Tff2 is applied to the outer ring or a configuration in which only the torque Tff2 is subtracted from the inner ring may be employed.
  • the torque difference ⁇ T between the left and right rear wheels 36a and 36b is changed according to the change speed Vap of the AP opening ⁇ ap (S5 in FIG. 4).
  • the present invention is not limited to this.
  • the FF total torque Tff_total (for example, torque Tff2) can be increased or decreased according to the change speed Vap.
  • the change speed Vap increases, the FF total torque Tff_total can be increased.
PCT/JP2014/069998 2013-07-31 2014-07-30 車両 WO2015016236A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP14832005.4A EP3028893B1 (de) 2013-07-31 2014-07-30 Fahrzeug
KR1020167005414A KR20160040629A (ko) 2013-07-31 2014-07-30 차량
JP2015529584A JP6457939B2 (ja) 2013-07-31 2014-07-30 車両
CA2919965A CA2919965A1 (en) 2013-07-31 2014-07-30 Vehicle
US14/440,419 US9725014B2 (en) 2013-07-31 2014-07-30 Vehicle
CN201480043314.8A CN105452052B (zh) 2013-07-31 2014-07-30 车辆

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-159612 2013-07-31
JP2013159612 2013-07-31

Publications (1)

Publication Number Publication Date
WO2015016236A1 true WO2015016236A1 (ja) 2015-02-05

Family

ID=52431766

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2014/069998 WO2015016236A1 (ja) 2013-07-31 2014-07-30 車両

Country Status (8)

Country Link
US (1) US9725014B2 (de)
EP (1) EP3028893B1 (de)
JP (1) JP6457939B2 (de)
KR (1) KR20160040629A (de)
CN (1) CN105452052B (de)
CA (1) CA2919965A1 (de)
MY (1) MY180489A (de)
WO (1) WO2015016236A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017051308A1 (en) * 2015-09-24 2017-03-30 Protean Electric Limited A control system for a vehicle
EP3260353A4 (de) * 2015-02-19 2018-08-15 Honda Motor Co., Ltd. Fahrzeug
JP2020069831A (ja) * 2018-10-29 2020-05-07 株式会社アドヴィックス 車両の制動制御装置

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190193558A1 (en) * 2017-12-22 2019-06-27 Caterpillar Inc. System for providing torque assist in a vehicle
JP7217859B2 (ja) * 2018-03-20 2023-02-06 マツダ株式会社 車両駆動装置
DE102018212031A1 (de) 2018-07-19 2020-01-23 Robert Bosch Gmbh Verfahren zum Betreiben eines Kraftfahrzeugs, Steuergerät und Kraftfahrzeug
JP7170966B2 (ja) * 2018-10-10 2022-11-15 マツダ株式会社 車両駆動装置
CN109367401B (zh) * 2018-10-23 2022-01-25 展欣（宁波）新能源科技有限公司 一种轮毂电机驱动桥电机差速控制方法
US11590977B2 (en) * 2019-12-31 2023-02-28 Rivian Ip Holdings, Llc Systems and methods for providing a vehicle with a torque vectored K-turn mode
US11661066B2 (en) * 2020-02-19 2023-05-30 Dana Automotive Systems Group, Llc Sand mode system and method for a vehicle
US20230021908A1 (en) * 2021-07-15 2023-01-26 Rivian Ip Holdings, Llc Systems and methods for controlling speed differential of wheels of a vehicle
WO2023108133A1 (en) * 2021-12-10 2023-06-15 Ariens Company Intuitive electric steering

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04129837A (ja) * 1990-09-19 1992-04-30 Mitsubishi Motors Corp 駆動力制御装置
JP2002029400A (ja) * 2000-07-18 2002-01-29 Mazda Motor Corp 車両の姿勢制御装置
JP2005160262A (ja) * 2003-11-28 2005-06-16 Toyota Motor Corp 車輌の駆動力制御装置
JP2005219580A (ja) 2004-02-04 2005-08-18 Toyota Motor Corp 車両の挙動制御装置
JP2005253175A (ja) * 2004-03-03 2005-09-15 Toyota Motor Corp 車両駆動装置
US20050217921A1 (en) 2004-03-31 2005-10-06 Honda Motor Co., Ltd. Drive force control method for four-wheel drive vehicle
JP2008074328A (ja) * 2006-09-25 2008-04-03 Nissan Motor Co Ltd ハイブリッド車両の駆動力制御装置
JP2008222070A (ja) * 2007-03-13 2008-09-25 Nissan Motor Co Ltd 車両の駆動力配分制御装置
JP2010101333A (ja) * 2008-10-21 2010-05-06 Honda Motor Co Ltd 車両用駆動力配分装置
JP2011131618A (ja) 2009-12-22 2011-07-07 Honda Motor Co Ltd 四輪駆動車両の制御装置
JP2011163518A (ja) * 2010-02-15 2011-08-25 Honda Motor Co Ltd 車両のヨーモーメント制御装置
US20120015772A1 (en) 2009-03-31 2012-01-19 Honda Motor Co., Ltd. Drive device and vehicle with same

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0937407A (ja) 1995-07-18 1997-02-07 Toyota Motor Corp 回生制動制御装置
JPH0984208A (ja) * 1995-09-14 1997-03-28 Denso Corp 電気自動車用制御装置
JP3423125B2 (ja) 1995-09-28 2003-07-07 三菱自動車工業株式会社 車両の旋回挙動制御装置
JP2882474B2 (ja) 1996-07-05 1999-04-12 三菱自動車工業株式会社 車両用左右輪間動力伝達制御装置
JP3564696B2 (ja) 1998-12-25 2004-09-15 トヨタ自動車株式会社 車両の操舵制御装置
JP3539358B2 (ja) * 2000-06-09 2004-07-07 日産自動車株式会社 車両の駆動力制御装置
JP4369198B2 (ja) 2003-10-10 2009-11-18 株式会社ジェイテクト 車両用操舵制御装置
JP2005137063A (ja) * 2003-10-28 2005-05-26 Toyota Motor Corp 車両用駆動制御装置
JP2006044293A (ja) 2004-07-30 2006-02-16 Toyota Motor Corp 車輌の運動制御装置
JP4114657B2 (ja) 2004-10-25 2008-07-09 三菱自動車工業株式会社 車両の旋回挙動制御装置
JP4556643B2 (ja) 2004-12-01 2010-10-06 トヨタ自動車株式会社 車両の制駆動力制御装置
JP4379406B2 (ja) * 2005-03-04 2009-12-09 日産自動車株式会社 車両の駆動力配分制御装置
JP2007269095A (ja) * 2006-03-30 2007-10-18 Toyota Motor Corp 車両の制動力制御装置
JP4936851B2 (ja) 2006-10-18 2012-05-23 日立オートモティブシステムズ株式会社 車両および車両制御装置
JP2008222055A (ja) 2007-03-13 2008-09-25 Toyota Motor Corp 運転補助制御装置
JP2010052525A (ja) 2008-08-27 2010-03-11 Honda Motor Co Ltd 車両用電動パワーステアリング装置
JP2010052523A (ja) 2008-08-27 2010-03-11 Honda Motor Co Ltd 駆動力配分制御装置
JP5185743B2 (ja) 2008-09-04 2013-04-17 富士重工業株式会社 操向支援装置
JP2010208366A (ja) 2009-03-06 2010-09-24 Honda Motor Co Ltd 車両運動制御システム
DE112009004644T5 (de) 2009-04-10 2012-10-11 Aisin Aw Co., Ltd. Steuervorrichtung für eine fahrzeugantriebsvorrichtung
JP5462373B2 (ja) * 2010-09-28 2014-04-02 日立オートモティブシステムズ株式会社 車両の運動制御装置
JP2012166715A (ja) 2011-02-15 2012-09-06 Toyota Motor Corp 車両の走行制御装置
JP5527259B2 (ja) * 2011-03-07 2014-06-18 三菱自動車工業株式会社 出力トルク制御装置
DE102011017464A1 (de) 2011-04-07 2012-10-11 Klaus Ebert Verfahren zum Betreiben eines Fahrzeugs
JP5773155B2 (ja) 2011-09-09 2015-09-02 マツダ株式会社 車線逸脱防止装置
JP5591837B2 (ja) 2012-01-25 2014-09-17 本田技研工業株式会社 車両及び操舵装置
JP2014101086A (ja) 2012-11-22 2014-06-05 Showa Corp 電動パワーステアリング装置
JP2014139039A (ja) 2013-01-21 2014-07-31 Jtekt Corp 電動パワーステアリング装置
WO2014115234A1 (ja) 2013-01-24 2014-07-31 日産自動車株式会社 操舵制御装置
DE112015002435T5 (de) 2014-05-23 2017-03-16 Honda Motor Co., Ltd. Fahrunterstützungsvorrichtung und Verfahren eines Steuerns/Regelns einer Fahrunterstützungsvorrichtung

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04129837A (ja) * 1990-09-19 1992-04-30 Mitsubishi Motors Corp 駆動力制御装置
JP2002029400A (ja) * 2000-07-18 2002-01-29 Mazda Motor Corp 車両の姿勢制御装置
JP2005160262A (ja) * 2003-11-28 2005-06-16 Toyota Motor Corp 車輌の駆動力制御装置
JP2005219580A (ja) 2004-02-04 2005-08-18 Toyota Motor Corp 車両の挙動制御装置
JP2005253175A (ja) * 2004-03-03 2005-09-15 Toyota Motor Corp 車両駆動装置
US20050217921A1 (en) 2004-03-31 2005-10-06 Honda Motor Co., Ltd. Drive force control method for four-wheel drive vehicle
JP2008074328A (ja) * 2006-09-25 2008-04-03 Nissan Motor Co Ltd ハイブリッド車両の駆動力制御装置
JP2008222070A (ja) * 2007-03-13 2008-09-25 Nissan Motor Co Ltd 車両の駆動力配分制御装置
JP2010101333A (ja) * 2008-10-21 2010-05-06 Honda Motor Co Ltd 車両用駆動力配分装置
US20120015772A1 (en) 2009-03-31 2012-01-19 Honda Motor Co., Ltd. Drive device and vehicle with same
JP2011131618A (ja) 2009-12-22 2011-07-07 Honda Motor Co Ltd 四輪駆動車両の制御装置
JP2011163518A (ja) * 2010-02-15 2011-08-25 Honda Motor Co Ltd 車両のヨーモーメント制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3028893A4

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3260353A4 (de) * 2015-02-19 2018-08-15 Honda Motor Co., Ltd. Fahrzeug
WO2017051308A1 (en) * 2015-09-24 2017-03-30 Protean Electric Limited A control system for a vehicle
US10988033B2 (en) 2015-09-24 2021-04-27 Protean Electric Limited Control system for a vehicle
JP2020069831A (ja) * 2018-10-29 2020-05-07 株式会社アドヴィックス 車両の制動制御装置
JP7139883B2 (ja) 2018-10-29 2022-09-21 株式会社アドヴィックス 車両の制動制御装置

Also Published As

Publication number Publication date
JPWO2015016236A1 (ja) 2017-03-02
CN105452052A (zh) 2016-03-30
CA2919965A1 (en) 2015-02-05
US20150283918A1 (en) 2015-10-08
EP3028893A1 (de) 2016-06-08
MY180489A (en) 2020-11-30
EP3028893B1 (de) 2019-06-19
JP6457939B2 (ja) 2019-01-23
US9725014B2 (en) 2017-08-08
CN105452052B (zh) 2018-02-16
EP3028893A4 (de) 2017-03-15
KR20160040629A (ko) 2016-04-14

Similar Documents

Publication Publication Date Title
JP6457939B2 (ja) 車両
US10793124B2 (en) Vehicle wheel torque control systems and methods
KR102122332B1 (ko) 차량
WO2016114282A1 (ja) 駆動装置の制御装置及び制御方法ならびに記録媒体
JP5813906B1 (ja) 車両及び車両の制御方法
US9440540B2 (en) Electric vehicle and control method
US9573466B2 (en) Vehicle, and vehicle control method
CN108583364B (zh) 车辆和车辆的控制方法
US9988041B2 (en) System and method for controlling a vehicle powertrain
JP2007325372A (ja) 電動車両の制御装置
JP7176360B2 (ja) 電動車両
WO2017138587A1 (ja) 車輪独立駆動式車両の駆動制御装置
US10421450B2 (en) Vehicle with first and second power sources
JP6421533B2 (ja) 車両用制御装置
WO2016125686A1 (ja) 車両の制駆動トルク制御装置
JP6382512B2 (ja) 車両
JP2017136868A (ja) 車両の制動制御装置
US11932138B2 (en) Electric vehicle control method and electric vehicle control system
WO2023182209A1 (ja) 車両の走行制御装置
JP6649478B2 (ja) 電動車両
JP2018011488A (ja) 電動車両
JP2006280099A (ja) 自動車およびその制御方法
JP2017046380A (ja) 車両の制御方法および車両用制御装置

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 201480043314.8

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14832005

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 14440419

Country of ref document: US

ENP Entry into the national phase

Ref document number: 2015529584

Country of ref document: JP

Kind code of ref document: A

Ref document number: 2919965

Country of ref document: CA

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20167005414

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2014832005

Country of ref document: EP